#pragma config(Hubs,  S1, HTMotor,  HTMotor,  none,     none)
#pragma config(Hubs,  S2, HTMotor,  HTMotor,  none,     none)
#pragma config(Sensor, S1,     ,               sensorI2CMuxController)
#pragma config(Sensor, S2,     ,               sensorI2CMuxController)
#pragma config(Motor,  mtr_S1_C1_1,     motorD,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C1_2,     motorE,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C2_1,     IZQADELANTE,   tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S1_C2_2,     IZQATRAS,      tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S2_C1_1,     motorH,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S2_C1_2,     motorI,        tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S2_C2_1,     DERADELANTE,   tmotorTetrix, openLoop)
#pragma config(Motor,  mtr_S2_C2_2,     DERATRAS,      tmotorTetrix, openLoop)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/////////////////////////////////////////////////////////////////////////////////////////////////////
//
//                           Tele-Operation Mode Code Template
//
// This file contains a template for simplified creation of an tele-op program for an FTC
// competition.
//
// You need to customize two functions with code unique to your specific robot.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

#include "JoystickDriver.c"  //Include file to "handle" the Bluetooth messages.


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
//                                    initializeRobot
//
// Prior to the start of tele-op mode, you may want to perform some initialization on your robot
// and the variables within your program.
//
// In most cases, you may not have to add any code to this function and it will remain "empty".
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

void initializeRobot()
{
  // Place code here to sinitialize servos to starting positions.
  // Sensors are automatically configured and setup by ROBOTC. They may need a brief time to stabilize.

  return;
}


/////////////////////////////////////////////////////////////////////////////////////////////////////
//
//                                         Main Task
//
// The following is the main code for the tele-op robot operation. Customize as appropriate for
// your specific robot.
//
// Game controller / joystick information is sent periodically (about every 50 milliseconds) from
// the FMS (Field Management System) to the robot. Most tele-op programs will follow the following
// logic:
//   1. Loop forever repeating the following actions:
//   2. Get the latest game controller / joystick settings that have been received from the PC.
//   3. Perform appropriate actions based on the joystick + buttons settings. This is usually a
//      simple action:
//      *  Joystick values are usually directly translated into power levels for a motor or
//         position of a servo.
//      *  Buttons are usually used to start/stop a motor or cause a servo to move to a specific
//         position.
//   4. Repeat the loop.
//
// Your program needs to continuously loop because you need to continuously respond to changes in
// the game controller settings.
//
// At the end of the tele-op period, the FMS will autonmatically abort (stop) execution of the program.
//
/////////////////////////////////////////////////////////////////////////////////////////////////////

task main()
{
  initializeRobot();

  waitForStart();   // wait for start of tele-op phase

  int deadzone = 20;

  while (true)
  {

  	if(abs(joystick.joy1_y1)<deadzone)
  	{
  		 joystick.joy1_y1=0;
  	}
 		else
 		{
 			joystick.joy1_y1=joystick.joy1_y1;
 		}

 		if(abs(joystick.joy1_x1)<deadzone)
  	{
  		 joystick.joy1_x1=0;
  	}
 		else
 		{
 			joystick.joy1_x1=joystick.joy1_x1;
 		}

 			if(abs(joystick.joy1_x2)<deadzone)
  	{
  		 joystick.joy1_x2=0;
  	}
 		else
 		{
 			joystick.joy1_x2=joystick.joy1_x2;
 		}


  	motor[DERADELANTE] = joystick.joy1_y1-joystick.joy1_x1-joystick.joy1_x2;
    motor[DERATRAS] = joystick.joy1_y1+joystick.joy1_x1-joystick.joy1_x2;
    motor[IZQADELANTE] = -joystick.joy1_y1-joystick.joy1_x1-joystick.joy1_x2;
    motor[IZQATRAS] = -joystick.joy1_y1+joystick.joy1_x1-joystick.joy1_x2;
  }
}
